Drone and positioning method thereof, drone communication system and operation method thereof

ABSTRACT

A drone and a positioning method thereof, a drone communication system and an operation method thereof are provided. The positioning method of the drone is applicable for a drone to cruise in a flight field. The positioning method includes the following steps: flying according to a destination coordinate in the flight field; sensing a plurality of base stations via a first wireless communication module to obtain a plurality of first radio wave signals of the plurality of base stations; positioning according to the plurality of first radio wave signals to determine a current coordinate of the drone; and flying toward the destination coordinate in the flight field according to the current coordinate. In this way, the drone is capable of reliably positioning to effectively perform automatic flight missions.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims the priority benefit of China application serialno. 201910924110.X, filed on Sep. 27, 2019. The entirety of theabove-mentioned patent application is hereby incorporated by referenceherein and made a part of this specification.

BACKGROUND Field of the Invention

The invention relates to an unmanned aerial vehicle (UAV) and moreparticularly, to a drone and a positioning method thereof, a dronecommunication system and an operation method thereof.

Description of Related Art

In the current unmanned aerial vehicle (UAV) field, a general dronereceives radio waves provided by at least three satellites using theglobal positioning system (GPS) technique for positioning, so as toobtain positioning information related to a current location of thedrone. However, when the general drone flight is under bad weather orlocated in a special terrain environment with poor signal reception, thedrone is prone to be influenced by interference with the reception ofGPS signals or poor reception quality and fails to be positionedaccurately. Accordingly, regarding how to provide the drone with areliable position function to effectively perform automatic flightmissions, several embodiments of solutions therefor are provided below.

The information disclosed in this Background section is only forenhancement of understanding of the background of the describedtechnology and therefore it may contain information that does not formthe prior art that is already known to a person of ordinary skill in theart. Further, the information disclosed in the Background section doesnot mean that one or more problems to be resolved by one or moreembodiments of the invention was acknowledged by a person of ordinaryskill in the art.

SUMMARY

The invention provides a drone and a positioning method thereof, a dronecommunication system and an operating method thereof that can providethe drone with a reliable positioning function to effectively performautomatic flight missions.

Other features and advantages of the invention can be further understoodby the technical features disclosed in the invention.

To achieve one, part, or all of the objectives aforementioned or otherobjectives, an embodiment of the invention provides a positioning methodof a drone applicable for the drone to cruise in a flight field. Thepositioning method includes the following steps: flying according to adestination coordinate in the flight field; sensing a plurality of basestations via a first wireless communication module to obtain a pluralityof first radio wave signals of the plurality of base stations;positioning according to the plurality of first radio wave signals todetermine a current coordinate of the drone; and flying toward thedestination coordinate in the flight field according to the currentcoordinate.

To achieve one, part, or all of the objectives aforementioned or otherobjectives, an embodiment of the invention provides a drone including aprocessor and a first wireless communication module. The processor isconfigured to control the drone to fly according to a destinationcoordinate in a flight field. The first wireless communication module iscoupled to the processor. The first wireless communication module isconfigured to sense a plurality of base stations to obtain a pluralityof first radio wave signals of the plurality of base stations. Theprocessor performs positioning according to the plurality of first radiowave signals to determine a current coordinate of the drone, and theprocessor controls the drone to fly toward the destination coordinate inthe flight field according to the current coordinate.

To achieve one, part, or all of the objectives aforementioned or otherobjectives, an embodiment of the invention provides an operation methodof a drone communication system applicable for obtaining a plurality ofbase station coordinates corresponding to a plurality of base stationsin a flight field. The operation method includes the following steps:communicating with at least three base stations adjacent to a parkingapron apparatus to obtain at least three base station coordinates of theat least three base stations; communicating with another base stationadjacent to the at least three base stations through the at least threebase stations; estimating another base station coordinate of the anotherbase station according to the at least three base station coordinates ofthe at least three base stations; and storing the plurality of basestation coordinates and providing the plurality of base stationcoordinates to a drone parked on the parking apron apparatus.

To achieve one, part, or all of the objectives aforementioned or otherobjectives, an embodiment of the invention provides a dronecommunication system including a drone, a plurality of base stations anda parking apron apparatus. The plurality of base stations are configuredto form a flight field. The parking apron apparatus is configured topark the drone. The parking apron apparatus communicates with at leastthree of the base stations adjacent to the parking apron apparatus toobtain at least three base station coordinates of the at least threebase stations. The parking apron apparatus communicates with anotherbase station adjacent to the at least three base stations through the atleast three base stations. The parking apron apparatus estimates anotherbase station coordinate of the another base station according to the atleast three base station coordinates of the at least three base stationsand stores the plurality of base station coordinates to obtain theplurality of base stations to the drone.

Based on the above, the embodiments of the invention achieve at leastone of the following advantages or effects. In the drone and thepositioning method thereof, the drone communication system and theoperating method thereof provided by the invention, the flight field ofthe drone can be formed by setting up the plurality of base stations,such that the drone can wirelessly communicate with at least a part ofthe plurality of base stations according to its current location toobtain the positioning information of the current location of the drone,thereby effectively performing automatic flight missions in the flightfield.

Other objectives, features and advantages of the present invention willbe further understood from the further technological features disclosedby the embodiments of the present invention wherein there are shown anddescribed preferred embodiments of this invention, simply by way ofillustration of modes best suited to carry out the invention.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings are included to provide a furtherunderstanding of the invention, and are incorporated in and constitute apart of this specification. The drawings illustrate embodiments of theinvention and, together with the description, serve to explain theprinciples of the invention.

FIG. 1 is a schematic functional block diagram of a drone according toan embodiment of the invention.

FIG. 2 is a schematic structural diagram of a drone communication systemaccording to an embodiment of the invention.

FIG. 3 is a flowchart of a positioning method of a drone according to anembodiment of the invention.

FIG. 4 is a flowchart of a positioning method of a drone according toanother embodiment of the invention.

FIG. 5 is a schematic diagram of the communication between a parkingapron apparatus and a plurality of base stations according to anembodiment of the invention.

FIG. 6 is a flowchart of an operation method of a drone communicationsystem according to an embodiment of the invention.

DESCRIPTION OF EMBODIMENTS

It is to be understood that other embodiment may be utilized andstructural changes may be made without departing from the scope of thepresent invention. Also, it is to be understood that the phraseology andterminology used herein are for the purpose of description and shouldnot be regarded as limiting. The use of “including,” “comprising,” or“having” and variations thereof herein is meant to encompass the itemslisted thereafter and equivalents thereof as well as additional items.Unless limited otherwise, the terms “connected,” “coupled,” and“mounted,” and variations thereof herein are used broadly and encompassdirect and indirect connections, couplings, and mountings.

FIG. 1 is a schematic functional block diagram of a drone according toan embodiment of the invention. Referring to FIG. 1, a drone 100 of theinvention includes a processor 110, a first wireless communicationmodule 120 and a second wireless communication module 130. In addition,the drone 100 further includes other necessary elements required by thedrone 100, for example, a drone engine, a battery module, an airframemechanism and a wing mechanism and so on (which are not shown), butdetails related to the other necessary elements required by the droneare not limited in the invention. The processor 110 is coupled to thefirst wireless communication module 120 and the second wirelesscommunication module 130. In the present embodiment, the processor 110may be a central processing unit (CPU) or any other general or specificpurpose programmable microprocessor, a digital signal processor (DSP), aprogrammable controller, an application specific integrated circuit(ASIC), a programmable logic device (PLD), other similar processingdevices, or a combination of these devices. The drone 100 may furtherinclude a memory, and the memory is configured to store related controlprograms, positioning data and so on for the processor 110 to access andexecute. In the present embodiment, the processor 110 is at leastconfigured to control the drone 100 to fly toward a destinationcoordinate in a specific flight field.

In the present embodiment, the first wireless communication module 120may wirelessly communicate with ground base stations within acommunication range by using, for example, a wireless communicationstandard, such as general packet radio service (GPRS), code divisionmultiple access (CDMA), digital mobile radio (DMR), spread spectrumcommunication (SSC) or wireless LAN (WLAN). In the present embodiment,the drone 100 may receive radio wave signals provided by the ground basestations using the first wireless communication module 120 to at leastobtain current positioning information (coordinate information) of thedrone 100.

In the present embodiment, the second wireless communication module 130is configured to support a global positioning system (GPS) to wirelesslycommunicate with a satellite system. In the present embodiment, thedrone 100 may receive the radio wave signals provided by the satellitesystem using the second wireless communication module 130 to at leastobtain the current positioning information of the drone 100 through theGPS system. In an embodiment, when the drone 100 is flying, the drone100 first continuously communicates with the satellite system via thesecond wireless communication module 130 to continuously(time-sequentially) update the current positioning information of thedrone 100, wherein the current positioning information is a GPScoordinate. Thus, the processor 110 of the drone 100 may manipulate thedrone 100 to fly toward a destination (coordinate) according to thecurrent positioning information. Meanwhile, the processor 110 of thedrone 100 may time-sequentially detect whether the second wirelesscommunication module 130 receives a GPS signal from the satellitesystem. If the drone 100 loses the communication with the satellitesystem during the process of flight, the drone 100 has a switchingcircuit to immediately switch to communicate with the ground basestations using the first wireless communication module 120, therebycontinuously updating the current positioning information of the drone100. However, in another embodiment, the drone 100 may have only thefirst wireless communication module 120, and thus, the drone 100 onlycommunicates with the ground base stations during the process of flightto continuously update the current positioning information of the drone100.

FIG. 2 is a schematic structural diagram of a drone communication systemaccording to an embodiment of the invention. Referring to FIG. 1 andFIG. 2, a drone communication system 200 includes the drone 100, aparking apron apparatus 210 and a plurality of base stations 220_1 to220_N, wherein N is a positive integer greater than 1. In the presentembodiment, the parking apron apparatus 210 may include a processor, amemory, a wireless communication module, a battery module and so on. Thedrone parking apparatus 210 is configured for takeoff, landing andcharging of the drone 100 and may communicate with the drone 100 and thebase stations 220_1 to 220_4 adjacent to the periphery of the parkingapron apparatus 210 to obtain a plurality of base station coordinates ofthe at least three base stations 220_1 to 220_4. The base stations 220_1to 220_4 may respectively record the base station coordinates thereof.The parking apron apparatus 210 may further extend the communicationwith other base stations through the base stations 220_1 to 220_4. Inother words, the base stations 220_1 to 220_N themselves obtaincommunication with the adjacent base stations 220_1 to 220_N throughsending radio wave signals, so as to obtain the coordinates of other ofthe adjacent base stations 220_1 to 220_N by means of radio wavepositioning estimation. Thus, the parking apron apparatus 210 may obtainnot only positioning information thereof, but also a plurality of basestation coordinates of the base stations 220_1 to 220_N. The parkingapron apparatus 210 may provide the base station coordinates of the basestations 220_1 to 220_N respectively to the drone 100. In the presentembodiment, an overall communication zone covered by the base stations220_1 to 220_N may form a flight field of the drone 100 for the drone100 to fly toward the destination in this flight field.

In the present embodiment, a plurality of communication ranges of theplurality of base stations 220_1 to 220_N are at least partiallyoverlapped, and any location in the flight field is covered by at leastthree communication ranges provided by at least three base stations. Itis assumed that in the present embodiment, the flight field formed bythe base stations 220_1 to 220_N or the environment where the drone 100flies is a special terrain or a specific area, such as a canyon orrainforest, which is incapable of communicating with the satellitesystem. In the present embodiment, when the drone 100 takes off from theparking apron apparatus 210 and flies in the flight field, the drone 100may obtain a current coordinate of the current drone 100 by means oftriangulation, wherein the current coordinate is a GPS coordinate. Inthe present embodiment, the drone 100 may calculates distances betweenthe drone 100 and at least three adjacent base stations based on atleast one of a time of arrival (TOA), time difference of arrival (TDOA)and a received signal strength indicator (RSSI) positioning methods.

The calculation of the distance between the drone 100 and an adjacentbase station is taken as an example. In an embodiment, the processor 110of the drone 100 may estimate a distance DToA between the drone 100 andthe adjacent base station based on the TOA positioning method andestimate a distance DRSSI between the drone 100 and the adjacent basestation based on the RSSI positioning method. Additionally, theprocessor 110 of the drone 100 may perform the calculation as indicatedby Formula (1) in a weighted-average manner together with relatedcoordinate conversion to obtain a distance D (a composite distanceestimated value) between the drone 100 and the adjacent base station. Bydeducing in the same way, the processor 110 may calculate distancesrespectively between the drone 100 and the at least three adjacent basestations through the calculation as indicated by Formula (1). In Formula(1) below, symbols A and B are constants.

$\begin{matrix}{D = \frac{{A*D_{TOA}} + {B*D_{RSSI}}}{A + B}} & {{Formula}\mspace{14mu} (1)}\end{matrix}$

Furthermore, in the present embodiment, when the drone 100 flies to acertain location 201 in the sky above a destination 202 (a destinationcoordinate), the drone 100 may further calculate at least one of aphase, a phase angle and a height between the drone 100 (coordinate ofthe drone) and the destination 202 (the destination coordinate) based ona channel state information (CSI) positioning algorithm, and the drone100 may land at the location 202 (the destination coordinate) accordingto the at least one of the phase, the phase angle and the height. Inother words, when the drone 100 is, for example, capable ofcommunicating with the base stations 220_(N−2), 220_(N−1) and 220_N, itindicates that the drone 100 flies to the sky above the destination 202(the destination coordinate), and thus, the drone 100 may calculate moredetailed current positioning information, so as to accurately land tothe destination 202 (the destination coordinate).

FIG. 3 is a flowchart of a positioning method of a drone according to anembodiment of the invention. Referring to FIG. 1 to FIG. 3, thepositioning method of the present embodiment is at least applicable tothe drone 100 illustrated in FIG. 1 and FIG. 2. The drone 100 mayperform steps S310 to S340 as follows. In step S310, the drone 100 fliesaccording to a destination coordinate in the flight field. In step S320,the drone 100 senses the plurality of base stations 220_1 to 220_N viathe first wireless communication module 120 to obtain a plurality offirst radio wave signals of the base stations 220_1 to 220_N. In thepresent embodiment, the drone 100 may obtain the base stationcoordinates of the base stations 220_1 to 220_N respectively in advancethrough the parking apron apparatus 210, or alternatively, the basestations 220_1 to 220_N provide the base station coordinatesrespectively to the drone 100 through the plurality of first radio wavesignals. In step S330, the drone 100 is positioned according to theplurality of first radio wave signals to determine the currentcoordinate of the drone 100. Namely, the processor 110 of the drone 100may first calculate a plurality of distances respectively between thedrone 100 and the plurality of base stations adjacent thereto accordingto the plurality of first radio signals. The plurality of distances maybe obtained by the calculation as indicated by Formula (1). Then, theprocessor 110 of the drone 100 may calculate the current coordinate ofthe drone 100 by means of triangulation according to the plurality ofcoordinates of and the plurality of distances with respect to theadjacent base stations. In step S340, the drone 100 flies toward thedestination coordinate according to the current coordinate in the flightfield. Thus, the drone 100 of the present embodiment may effectively andaccurately fly toward the destination in the flight field formed by theplurality of base stations 220_1 to 220_N.

FIG. 4 is a flowchart of a positioning method of a drone according toanother embodiment of the invention. Referring to FIG. 1, FIG. 2 andFIG. 4, the positioning method of the present embodiment is at leastapplicable to the drone 100 illustrated in FIG. 1 and FIG. 2. Incomparison with the embodiment as illustrated in FIG. 3, the positioningmethod of the drone of the present embodiment may further perform thepositioning with the use of the second wireless communication module 130of the drone 100. The drone 100 may perform steps S410 to S460 asfollows. In step S410, the drone 100 flies according to a destinationcoordinate in the flight field. In step S420, the drone 100 determineswhether a second radio wave signal is received by the second wirelesscommunication module 130. In detail, the processor 110 of the drone 100may time-sequentially detect whether the second wireless communicationmodule 130 receives any GPS signal from the satellite system, whereinthe second radio wave signal is provided by the satellite system. Ifyes, the drone 100 performs step S430. In step S430, the drone 100obtains the current coordinate of the drone according to the secondradio wave signal, wherein the current coordinate is a GPS coordinate.And, in step S460, the drone 100 flies toward the destination coordinateaccording to the current coordinate in the flight field.

If no, the drone 100 performs step S440. In step S440, the drone 100senses the plurality of adjacent base stations 220_1 to 220_Nrespectively via the first wireless communication module 120 to obtainthe plurality of first radio wave signals of the base stations 220_1 to220_N. In the present embodiment, the drone 100 may obtain the basestation coordinates of the base stations 220_1 to 220_N respectively inadvance through the parking apron apparatus 210, or alternatively, thebase stations 220_1 to 220_N may provide the base station coordinates tothe drone 100 respectively through the plurality of first radio wavesignals. In step S450, the drone 100 is positioned according to theplurality of first radio wave signals to determine the currentcoordinate of the drone 100. In step S460, the drone 100 flies towardthe destination coordinate according to the current coordinate in theflight field. Thus, the drone 100 of the present embodiment mayeffectively and accurately fly toward the destination in the flightfield formed by the plurality of base stations 220_1 to 220_N.

In other words, the drone 100 of the present embodiment maypreferentially determine whether GPS positioning information is obtainedthrough the satellite system, and when the drone 100 fails to obtain theGPS positioning information through the satellite system, the drone 100is switched to communicate with the plurality of ground base stations inthe flight field to obtain positioning information of the drone 100,such that the drone 100 may effectively and accurately fly toward thedestination in the flight field formed by the plurality of base stations220_1 to 220_N.

FIG. 5 is a schematic diagram of the communication between a parkingapron apparatus and a plurality of base stations according to anembodiment of the invention. Referring to FIG. 5, the present embodimentprovides a method of building and operating a drone communicationsystem. In the present embodiment, a drone communication system 500includes a parking apron apparatus 510 and a plurality of base stations520_1 to 520_4, 530_1 to 530_5, 540_1 to 540_3 and 550_1 to 550_3. Eachof the base stations 520_1 to 520_4, 530_1 to 530_5, 540_1 to 540_3 and550_1 to 550_3 includes a battery module to perform communicationaccording to power supplied by each of the battery modules. In thepresent embodiment, the base stations 520_1 to 520_4, 530_1 to 530_5,540_1 to 540_3 and 550_1 to 550_3 may be, for example, built in aspecial terrain or a specific area which is incapable of communicatingwith the satellite system.

In the present embodiment, when a user sets up the parking apronapparatus 510 and the base stations 520_1 to 520_4, the parking apronapparatus 510 may be adjacent to the base stations 520_1 to 520_4.However, in an embodiment, because the parking apron apparatus 510 maycalculate an apron coordinate of the parking apron apparatus 510according to at least three base station coordinates, the parking apronapparatus 510 may be adjacent to at least three base stations, but thenumber of the base stations is not limited to that illustrated in FIG.5. In the present embodiment, the parking apron apparatus 510 maycommunicate with another plurality of base stations 530_1 to 530_5adjacent to these base stations 520_1 to 520_4 through the base stations520_1 to 520_4 to estimate base station coordinates of the anotherplurality of base stations 530_1 to 530_5 according to any correspondingat least three base station coordinates of these base stations 520_1 to520_4. By deducing in the same way, the parking apron apparatus 510 maycommunicate with the plurality of base stations 540_1 to 530_5 adjacentto these base stations 530_1 to 530_5 through the base stations 520_1 to520_4 and 530_1 to 530_5 and may further communicate with the pluralityof base stations 550_1 to 530_5 adjacent to these base stations 540_1 to530_3 through the base stations 520_1 to 520_4, 530_1 to 530_5 and 540_1to 530_3. Thus, the parking apron apparatus 510 may automatically obtainthe base station coordinates of all the base stations one by one.

For example, the base stations 520_1 to 520_4 may be those that arefirst set up and respectively have known base station coordinates. Basedon a distance relation with the parking apron apparatus 510, the basestations 520_1 to 520_4 may wirelessly communicate with the satellitesystem to obtain GPS coordinates of the base stations 520_1 to 520_4respectively. Then, the base station 530_1 adjacent to the base stations520_1 to 520_4 may at least is covered by three communication rangesprovided by the base stations 520_1 to 520_3. Thus, the parking apronapparatus 510 may, for example, calculate three distances between thebase station 530_1 and the corresponding three base stations 520_1 to520_3 based on at least one of a TOA, a TDOA and an RSSI positioningmethods. The aforementioned three distances may be obtained in acalculation manner similar to the calculation as indicated by Formula(1) above. Then, the parking apron apparatus 510 may estimate a GPScoordinate of the base station 530_1 according to the three GPScoordinates of the base station 520_1 to 520_3 and the correspondingthree distances. By deducing in the same way, the parking apronapparatus 510 may automatically obtain the base station coordinates ofthe base stations 520_1 to 520_4, 530_1 to 530_5, 540_1 to 540_3 and550_1 to 550_3 respectively to automatically and effectively build theflight field for the drone to fly. However, the connection relation andthe configuration manner of the base stations 520_1 to 520_4, 530_1 to530_5, 540_1 to 540_3 and 550_1 to 550_3 illustrated in FIG. 5 aremerely for illustrating the communication manner of the dronecommunication system 500 of one of the embodiments of the invention,which construes no limitations to the invention.

Additionally, in an embodiment, if one of the base stations 520_1 to520_4, 530_1 to 530_5, 540_1 to 540_3 and 550_1 to 550_3 is capable ofwirelessly communicating with the satellite system, the one of the basestations 520_1 to 520_4, 530_1 to 530_5, 540_1 to 540_3 and 550_1 to550_3 may obtain GPS coordinates directly from the satellite system anddirectly provide the base station coordinates to the parking apronapparatus 510, such that the parking apron apparatus 510 no longer hasto estimate the base station coordinates of the base stations capable ofcommunicating with the satellite system. Additionally, the parking apronapparatus 510 may further correct an accumulative error of other GPScoordinates obtained through estimation according to a GPS coordinate ofa certain base station provided by the satellite system. Additionally,in an embodiment, each of the base stations 520_1 to 520_4, 530_1 to530_5, 540_1 to 540_3 and 550_1 to 550_3 may also obtain the GPScoordinate thereof by the user using a measurement device, such as alaser range finder (LRF), an electronic compass or a barometer.

FIG. 6 is a flowchart of an operation method of a drone communicationsystem according to an embodiment of the invention. The positioningmethod of the present embodiment is at least applicable to the dronecommunication systems 200 and 500 illustrated in FIG. 2 and FIG. 5.Referring to FIG. 2 and FIG. 6, the parking apron apparatus 210 mayperform steps S610 to S640 as follows. In step S610, the parking apronapparatus 210 communicates with at least three of the base stations220_1 to 220_4 adjacent to the parking apron apparatus 210 to obtain atleast three base station coordinates of the at least three basestations. In step S620, the parking apron apparatus 210 communicateswith another base station adjacent to the at least three base stationsthrough the at least three base stations. In step S630, the parkingapron apparatus 210 estimates another base station coordinate of theanother base station according to the at least three base stationcoordinates of the at least three base stations. In step S640, theparking apron apparatus 210 stores the plurality of base stationcoordinates and provides the plurality of base station coordinates tothe drone 100 parked on the parking apron apparatus 210. Thus, theoperation method of the present embodiment may automatically andeffectively build the drone communication system 200 and build theflight field for the drone 100 to fly.

In light of the foregoing, in the drone and the positioning methodthereof, the drone communication system and the operating method thereofprovided by the invention, the flight field of the drone can be formedby setting up the plurality of base stations, and the parking apronapparatus can automatically obtain the plurality of base stationcoordinates of the plurality of base stations. The parking apronapparatus can provide the plurality of base station coordinates to thedrone. Thus, if the drone fails to obtain the GPS coordinate through thesatellite system during the process of flight, the drone can wirelesslycommunicate with at least a part of the plurality of base stationsaccording to its current location to continuously update the positioninginformation of the current location of the drone, such that the dronecan accurately perform automatic flight missions in the flight field.

The foregoing description of the preferred embodiments of the inventionhas been presented for purposes of illustration and description. It isnot intended to be exhaustive or to limit the invention to the preciseform or to exemplary embodiments disclosed. Accordingly, the foregoingdescription should be regarded as illustrative rather than restrictive.Obviously, many modifications and variations will be apparent topractitioners skilled in this art. The embodiments are chosen anddescribed in order to best explain the principles of the invention andits best mode practical application, thereby to enable persons skilledin the art to understand the invention for various embodiments and withvarious modifications as are suited to the particular use orimplementation contemplated. It is intended that the scope of theinvention be defined by the claims appended hereto and their equivalentsin which all terms are meant in their broadest reasonable sense unlessotherwise indicated. Therefore, the term “the invention”, “the presentinvention” or the like does not necessarily limit the claim scope to aspecific embodiment, and the reference to particularly preferredexemplary embodiments of the invention does not imply a limitation onthe invention, and no such limitation is to be inferred. The inventionis limited only by the spirit and scope of the appended claims.Moreover, these claims may refer to use “first”, “second”, etc.following with noun or element. Such terms should be understood as anomenclature and should not be construed as giving the limitation on thenumber of the elements modified by such nomenclature unless specificnumber has been given. The abstract of the disclosure is provided tocomply with the rules requiring an abstract, which will allow a searcherto quickly ascertain the subject matter of the technical disclosure ofany patent issued from this disclosure. It is submitted with theunderstanding that it will not be used to interpret or limit the scopeor meaning of the claims. Any advantages and benefits described may notapply to all embodiments of the invention. It should be appreciated thatvariations may be made in the embodiments described by persons skilledin the art without departing from the scope of the present invention asdefined by the following claims. Moreover, no element and component inthe present disclosure is intended to be dedicated to the publicregardless of whether the element or component is explicitly recited inthe following claims.

What is claimed is:
 1. A positioning method of a drone, adapted for thedrone cruising in a flight field, the positioning method comprising:flying according to a destination coordinate in the flight field;sensing, a plurality of base stations via a first wireless communicationmodule, to obtain a plurality of first radio wave signals of theplurality of base stations; positioning, according to the plurality offirst radio wave signals, to determine a current coordinate of thedrone; and flying toward the destination coordinate in the flight fieldaccording to the current coordinate.
 2. The positioning method accordingto claim 1, wherein a plurality of communication ranges of the pluralityof base stations are at least partially overlapped, and any location inthe flight field is covered by at least three of the communicationranges provided by at least three of the base stations.
 3. Thepositioning method according to claim 1, wherein the plurality of basestations respectively provide a plurality of coordinates of theplurality of base stations to the drone through the plurality of firstradio wave signals.
 4. The positioning method according to claim 3,wherein the plurality of coordinates are a plurality of globalpositioning system (GPS) coordinates.
 5. The positioning methodaccording to claim 3, wherein the step of positioning, according to theplurality of first radio wave signals, to determine the currentcoordinate of the drone comprises: calculating a plurality of distancesrespectively between the drone and the plurality of base stationsaccording to the plurality of first radio wave signals; and calculatingthe current coordinate of the drone according to the plurality ofcoordinates of the plurality of base stations and the plurality ofdistances.
 6. The positioning method according to claim 5, wherein thedrone calculates the plurality of distances based on at least one of atime of arrival (TOA), a time difference of arrival (TDOA) and areceived signal strength indication (RSSI) positioning methods.
 7. Thepositioning method according to claim 1, further comprising: when thedrone is located in the sky above the destination coordinate,calculating at least one of a phase, a phase angle and a height betweena coordinate of the drone and the destination coordinate; and landing atthe location of the destination coordinate according to the at least oneof the phase, the phase angle and the height.
 8. The positioning methodaccording to claim 7, wherein the at least one of the phase, the phaseangle and the height is calculated by the drone based on a channel stateinformation (CSI) positioning algorithm.
 9. The positioning methodaccording to claim 1, further comprising: when a second radio wavesignal is received via a second wireless communication module, obtainingthe current coordinate of the drone; and flying toward the destinationcoordinate in the flight field according to the current coordinate. 10.The positioning method according to claim 9, wherein the second radiowave signal is a GPS signal, and the current coordinate is a GPScoordinate.
 11. A drone, comprising: a processor, configured to controlthe drone to fly according to a destination coordinate in a flightfield; and a first wireless communication module, coupled to theprocessor and configured to sense a plurality of base stations to obtaina plurality of first radio wave signals of the plurality of basestations, wherein the processor performs positioning according to theplurality of first radio wave signals to determine a current coordinateof the drone, and the processor controls the drone to fly toward thedestination coordinate in the flight field according to the currentcoordinate in the flight field.
 12. The drone according to claim 11,wherein a plurality of communication ranges of the plurality of basestations are at least partially overlapped, and any location in theflight field is covered by at least three of the communication rangesprovided by at least three of the base stations.
 13. The drone accordingto claim 11, wherein the plurality of base stations respectively providea plurality of coordinates of the plurality of base stations to thedrone through the plurality of first radio wave signals.
 14. The droneaccording to claim 13, wherein the plurality of coordinates are aplurality of GPS coordinates.
 15. The drone according to claim 13,wherein the processor calculates a plurality of distances respectivelybetween the drone and the plurality of base stations according to theplurality of first radio wave signals, and the processor calculates thecurrent coordinate of the drone according to the plurality ofcoordinates of the plurality of base stations and the plurality ofdistances.
 16. The drone according to claim 15, wherein the processorcalculates the plurality of distances based on at least one of a TOA, aTDOA and an RSSI positioning methods.
 17. The drone according to claim11, wherein when the drone is located in the sky above the destinationcoordinate, the processor calculates at least one of a phase, a phaseangle and a height between a coordinate of the drone and the destinationcoordinate, and the processor controls the drone to land at the locationof the destination coordinate according to the at least one of thephase, the phase angle and the height.
 18. The drone according to claim17, wherein the drone calculates the at least one of the phase, thephase angle and the height based on a CSI positioning algorithm.
 19. Thedrone according to claim 11, further comprising: a second wirelesscommunication module, coupled to the processor, wherein when the secondwireless communication module receives a second radio wave signal, theprocessor obtains the current coordinate of the drone according to thesecond radio wave signal and controls the drone to fly toward thedestination coordinate in the flight field according to the currentcoordinate.
 20. The drone according to claim 19, wherein the secondradio wave signal is a GPS signal, and the current coordinate is a GPScoordinate.
 21. An operation method of a drone communication system,adapted for obtaining a plurality of base station coordinatescorresponding to a plurality of base stations in a flight field, theoperation method comprising: communicating with at least three basestations adjacent to a parking apron apparatus to obtain at least threebase station coordinates of the at least three base stations;communicating with another base station adjacent to the at least threebase stations through the at least three base stations; estimatinganother base station coordinate of the another base station according tothe at least three base station coordinates of the at least three basestations; and storing the plurality of base station coordinates andproviding the plurality of base station coordinates to a drone parked onthe parking apron apparatus.
 22. The operation method according to claim21, further comprising: calculating an apron coordinate of the parkingapron apparatus according to the at least three base stationcoordinates.
 23. The operation method according to claim 21, wherein alocation of the another base station is covered by at least threecommunication ranges provided by the at least three base stations. 24.The operation method according to claim 23, wherein the step ofestimating the another base station coordinate of the another basestation according to the at least three base station coordinates of theat least three base stations comprises: calculating at least threedistances between the another base station and the at least three basestations according to at least three third radio wave signals providedby the at least three base stations and received by the another basestation; and calculating the another base station coordinate of theanother base station according to the at least three base stationcoordinates of the at least three base stations and the at least threedistances.
 25. The operation method according to claim 24, wherein theparking apron apparatus calculates the at least three distances based onat least one of a TOA, a TDOA and an RSSI positioning methods.
 26. Theoperation method according to claim 21, wherein the at least three basestation coordinates and the another base station coordinate are GPScoordinates, respectively.
 27. The operation method according to claim26, further comprising: when a GPS signal is received by the anotherbase station to obtain the another base station coordinate, directlyproviding the another base station coordinate to the parking apronapparatus through the another base station.
 28. The operation methodaccording to claim 21, wherein each of the base stations comprises abattery module to perform communication according to power supplied bythe battery module.
 29. A drone communication system, comprising: adrone; a plurality of base stations, configured to form a flight field;and a parking apron apparatus, configured to park the drone, wherein theparking apron apparatus communicates with at least three of the basestations adjacent to the parking apron apparatus to obtain at leastthree base station coordinates of the at least three base stations, andthe parking apron apparatus communicates with another base stationadjacent to the at least three base stations through the at least threebase stations, wherein the parking apron apparatus estimates anotherbase station coordinate of the another base station according to the atleast three base station coordinates of the at least three base stationsand stores the plurality of base station coordinates to provide theplurality of base station coordinates to the drone.
 30. The dronecommunication system according to claim 29, wherein the parking apronapparatus calculates an apron coordinate of the parking apron apparatusaccording to the at least three base station coordinates.
 31. The dronecommunication system according to claim 29, wherein a location of theanother base station is covered by at least three communication rangesprovided by the at least three base stations.
 32. The dronecommunication system according to claim 31, wherein the parking apronapparatus calculates at least three distances between the another basestation and the at least three base stations according to at least threethird radio wave signals provided by the at least three base stationsand received by the another base station, and the parking apronapparatus calculates the another base station coordinate of the anotherbase station according to the at least three base station coordinates ofthe at least three base stations and the at least three distances. 33.The drone communication system according to claim 32, wherein theparking apron apparatus calculates the at least three distances based onat least one of a TOA, a TDOA and an RSSI positioning methods.
 34. Thedrone communication system according to claim 29, wherein the at leastthree base station coordinates and the another base station coordinateare GPS coordinates.
 35. The drone communication system according toclaim 34, wherein when the another base station receives a GPS signal toobtain the another base station coordinate, the another base stationdirectly provides the another base station coordinate to the parkingapron apparatus.
 36. The drone communication system according to claim29, wherein each of the base stations comprises a battery module toperform communication according to power supplied by the battery module.